CN114170141A - Boxing method and system for automobile wire harness assembly - Google Patents
Boxing method and system for automobile wire harness assembly Download PDFInfo
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Abstract
The invention provides a boxing method and a system for an automobile wire harness assembly, which comprise the following steps: acquiring boxing environment video stream data in real time, acquiring environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene; scanning a wire harness assembly label in the video frame image to obtain wire harness assembly information, calling pre-stored packaging information in a packaging box according to the wire harness assembly information, and automatically matching target packaging box information; and performing remote boxing based on the environment virtual scene by combining the position information of the target packing box. The invention can improve the boxing efficiency of the automobile wire harness assembly and can realize remote automatic boxing.
Description
Technical Field
The invention relates to the technical field of boxing, in particular to a boxing method and a system for an automobile wire harness assembly.
Background
At present, with the continuous increase of the scale of factories and the continuous increase of the types of automobile wire harness products, the requirements of packaging are continuously updated and changed. After the automobile wire harness assembly is finished, the automobile wire harness assembly needs to be boxed, and the requirements of types and quantity are met during boxing, for example, what types are needed to be packed in a packing box, and the quantity of the packed materials is clearly specified. The traditional boxing method mainly comprises two manual and mechanical boxing methods, the wire harness assembly cannot be detected before boxing, a plurality of bad wire harnesses can be boxed, mechanical boxing can only be supported in a short distance, remote automatic boxing cannot be realized, manual boxing meets requirements through visual inspection of the variety of the label, the number is recorded in a manual recording mode, and whether the inspection is carried out is judged by using a mark made after visual inspection of the previous process. However, the above-described technique has the following disadvantages: 1. manual recording and visual inspection by naked eyes have low efficiency, high error probability, strong artificial sporadic property and difficult control; 2. the manual record is easy to lose, the record accumulated for a long time is not easy to search, and the statistical analysis of the data is not facilitated; 3. the labor intensity is high and the efficiency is low. The defect of boxing by using a mechanical mode is as follows: 1. the boxing mode can only realize short-distance boxing and is easy to generate errors; 2. some links still need manual participation, and the boxing efficiency is low.
Disclosure of Invention
The invention provides a boxing system and method for an automobile wire harness assembly, which are used for realizing the condition of remote automatic boxing of an automobile wire harness.
A method of boxing an automotive wire harness assembly, comprising:
acquiring boxing environment video stream data in real time, acquiring environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene;
scanning a wire harness assembly label in the video frame image to obtain wire harness assembly information, calling pre-stored packaging information in a packaging box according to the wire harness assembly information, and automatically matching target packaging box information;
and performing remote boxing based on the environment virtual scene by combining the position information of the target packing box.
In one embodiment of the invention: the real-time collection of the boxing environment video stream data, the acquisition of the environment video frame image, the three-dimensional modeling according to the video frame image, and the generation of the environment virtual scene comprises the following steps:
shooting a boxing environment by using a depth camera to obtain environment video stream data;
performing video segmentation processing on the environment video stream data to obtain a plurality of video frame images;
preprocessing the video frame images to obtain an enhanced image;
determining image parameters according to the enhanced image, and performing three-dimensional live-action modeling according to the image parameters to generate an environment virtual scene;
and receiving the data content of the depth camera in real time, judging whether the image parameters change, performing modeling processing again according to the environment parameters when the image parameters change, and updating the environment virtual scene.
In one embodiment of the invention: the scanning of the wire harness assembly label in the video frame image obtains wire harness assembly information, and according to the wire harness assembly information, the package information in a pre-stored packing box is called, and the automatic matching of the target packing box information comprises the following steps:
determining whether a repeated video frame image is included in the video frame image based on the video frame image,
if yes, deleting the repeated video frame image, and generating a first video frame image database;
detecting whether the database contains the label information of the automobile wiring harness assembly or not based on the first video frame image database,
when the first video frame image database contains automobile wiring harness label information, scanning the label information to obtain basic data information of the automobile wiring harness assembly; wherein,
the basic data information includes: the method comprises the steps of obtaining color information of a wire harness assembly, type information of the wire harness assembly and positioning information of the wire harness assembly; wherein,
the wire harness assembly type information includes: the device comprises an instrument desk wire harness assembly, an engine compartment wire harness assembly and a chassis wire harness assembly;
detecting and analyzing basic data information of the automobile wire harness assembly, judging whether the automobile wire harness assembly meets the use standard or not, and determining a judgment result;
based on the judgment result, when the detection result is determined to meet the use standard, a pre-stored packing box database is called, and target packing box information is searched; wherein,
the target packing box information comprises: target packing box sequence information, target packing box position information and target packing box volume information.
In one embodiment of the invention: the remote boxing based on the environment virtual scene and by combining the position information of the target packing box comprises the following steps:
automatically generating a conveying path set based on the target packing box position information and the assembly positioning information;
screening the conveying paths in the conveying path set according to the conveying path set to determine an optimal conveying path;
carrying out long-distance transportation processing on the automobile wire harness assembly according to the optimal transportation path;
the bin state information is tracked and recorded in real-time, wherein,
the state information includes: the wire harness information is subjected to boxing, the wire harness information to be subjected to boxing and the abnormal wire harness information;
monitoring state data in the wire harness assembly boxing process in real time, comparing the state data with a preset threshold value, judging whether abnormal data exist in the state data or not,
and when abnormal data exists in the state data, determining the abnormal data, dividing the alarm grade, and starting a corresponding alarm mode according to the alarm grade.
In one embodiment of the invention: the preprocessing operation of the video frame images to obtain the enhanced image comprises:
according to the first video frame image database, carrying out gray level processing on the video frame images in the database to obtain a primary video frame image;
based on the primary video frame image, enhancing the primary video frame image to obtain a secondary video frame image;
detecting image noise of the secondary video frame image and classifying noise levels according to the image noise, wherein,
the noise levels include: first-level noise, second-level noise, third-level noise,
when the noise level is secondary noise or tertiary noise, denoising the secondary video frame image to obtain a tertiary video frame image;
and carrying out image segmentation on the three-level video frame image, determining image characteristics and obtaining a four-level video frame image.
In one embodiment of the invention: determining image parameters according to the enhanced image, and performing three-dimensional live-action modeling according to the image parameters to generate an environment virtual scene comprises:
determining environmental data information based on the four levels of video frame pictures, wherein,
the environment data information includes: illumination data information, voxel data information, direction data information, and coordinate data information;
comparing the environmental data information with a preset threshold value, judging whether the environmental data information contains abnormal data information,
when the environmental data information contains abnormal data information, discarding the abnormal data information to determine effective environmental data;
determining environmental characteristics according to the effective environmental data, analyzing the environmental characteristics and obtaining a characteristic analysis result;
and performing three-dimensional reconstruction on the environment based on the characteristic analysis result to obtain a virtual scene of the boxing environment.
In one embodiment of the invention: the basic data information of the automobile wire harness assembly is detected and analyzed, whether the automobile wire harness assembly meets the use standard or not is judged, and a judgment result is determined; the method comprises the following steps:
detecting whether the color of a wire harness in the automobile wire harness assembly is consistent with the color of a hole site of a corresponding terminal, if so, setting a first detection result to be 1, and if not, setting the first detection result to be 0;
detecting whether the number of the wire harnesses in the automobile wire harness assembly is consistent with the preset number of the wire harnesses, if so, setting a second detection result to be 1, and if not, setting the second detection result to be 0;
detecting whether the wire harness in the automobile wire harness assembly has connectivity, if the electric wire has connectivity, setting a third detection result as 1, and if the electric wire does not have connectivity, setting the third detection result as 0;
judging whether the automobile wire harness assembly meets the use standard or not according to the first detection result, the second detection result and the third detection result,
and when the first detection result, the second detection result and the third detection result are all 1, judging that the wire harness assembly meets the use standard.
In one embodiment of the invention: the remote transportation processing of the automobile wire harness assembly according to the optimal transportation path comprises the following steps:
measuring the real-time distance between the automobile wire harness assembly and surrounding objects in real time by adopting a laser ranging method;
comparing the real-time distance with a preset threshold value, and judging as a dangerous distance if the distance is smaller than the preset threshold value;
and when the distance between the automobile wire harness and the surrounding objects is a dangerous distance, starting an emergency obstacle avoidance mode.
In one embodiment of the invention: the method comprises the following steps of detecting and analyzing basic data information of the automobile wire harness assembly, judging whether the automobile wire harness assembly meets the use standard or not, and determining a judgment result, and further comprises the following execution steps:
step 1: acquiring the category information of the wire harness assembly, classifying the wire harness assembly according to the category information, and determining a classification result;
step 2: according to the classification result of the wire harness assembly, performing association marking on the classification result and target packaging information;
and step 3: and searching the wire harness assemblies with the same classification results according to the association marking results, integrating the wire harness assemblies with the same classification results, and performing unified transportation on the integrated wire harness assemblies.
A packaging system for an automotive wire harness assembly, comprising:
the information acquisition module: the system comprises a video acquisition module, a storage module, a display module and a display module, wherein the video acquisition module is used for acquiring boxing environment video stream data in real time, acquiring environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene;
a detection analysis module: the system comprises a video frame image, a wire harness assembly label, a packaging box and a display screen, wherein the video frame image is used for scanning the wire harness assembly label in the video frame image, acquiring wire harness assembly information, calling pre-stored packaging information in the packaging box according to the wire harness assembly information, and automatically matching target packaging box information;
a boxing execution module: and the system is used for performing remote boxing based on the environment virtual scene by combining the position information of the target packing box.
The invention has the following beneficial effects: the invention adopts an intelligent mode to realize automatic automobile wire harness boxing, saves labor cost, reduces labor intensity, improves working efficiency, can improve visual display effect and operation experience function of a boxing system in the automatic boxing process, can realize quality detection of the wire harness, replaces human eyes with machine vision to accurately detect and identify the wire harness, dynamically records boxing data, improves boxing efficiency and reduces error rate.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a boxing system for an automotive wiring harness assembly in an embodiment of the present invention;
fig. 2 is a flow chart of a boxing method for an automotive harness assembly in an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1:
as shown in fig. 1, the present invention comprises a method for encasing an automotive wiring harness assembly, comprising:
acquiring boxing environment video stream data in real time, acquiring environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene;
scanning a wire harness assembly label in the video frame image to obtain wire harness assembly information, calling pre-stored packaging information in a packaging box according to the wire harness assembly information, and automatically matching target packaging box information;
and performing remote boxing based on the environment virtual scene by combining the position information of the target packing box.
The working principle of the technical scheme is as follows: in the prior art, only a scanner is adopted to scan the label of the beam assembly, and remote boxing is not involved in the boxing execution, and the technical scheme designs three parts of information acquisition, information detection and analysis and remote boxing, which are respectively as follows: and the information acquisition is responsible for acquiring video frame data of the packing environment by adopting a depth camera, analyzing the video frame data and performing three-dimensional reconstruction on the packing environment. The purpose of three-dimensional reconstruction is to achieve the creation of a virtual scene.
Acquiring a three-dimensional virtual scene corresponding to a boxing environment, detecting and analyzing a label mainly responsible for scanning an automobile wire harness, acquiring composition data, real-time state and position information of the label, automatically matching a specific position of a target packaging box by a system, and automatically planning a boxing path by the system according to the positioning information of the wire harness and the position of the target packaging box to match an optimal boxing path;
the beneficial effects of the above technical scheme are: the invention gets rid of the defects of manual boxing in the past, adopts an automatic technology to perform the boxing work of the automobile wire harness, and the system operates in modules, thereby being beneficial to improving the operation efficiency of the system and reducing the error rate of the system.
Example 2:
in one embodiment of the invention: the real-time collection of the boxing environment video stream data, the acquisition of the environment video frame image, the three-dimensional modeling according to the video frame image, and the generation of the environment virtual scene comprises the following steps:
shooting a boxing environment by using a depth camera to obtain environment video stream data;
performing video segmentation processing on the environment video stream data to obtain a plurality of video frame images;
preprocessing the video frame images to obtain an enhanced image;
determining image parameters according to the enhanced image, and performing three-dimensional live-action modeling according to the image parameters to generate an environment virtual scene;
and receiving the data content of the depth camera in real time, judging whether the image parameters change, performing modeling processing again according to the environment parameters when the image parameters change, and updating the environment virtual scene.
The working principle of the technical scheme is as follows: according to the technical scheme, when information acquisition is carried out, in the information acquisition process, the method comprises video acquisition, video segmentation, image preprocessing, three-dimensional modeling and model updating of the three-dimensional modeling.
The beneficial effects of the above technical scheme are: in the invention, the depth camera is adopted to collect the boxing environment information, compared with the traditional shooting equipment, the depth camera can realize depth measurement and can more sensitively sense the change of the surrounding environment, so that the environment information acquired by the depth camera is more comprehensive, the reality of the acquired virtual scene is higher and the speed is higher when three-dimensional modeling is carried out, in addition, the image enhancement is carried out on the video frame image before the three-dimensional modeling, the characteristic points in the environment are favorably highlighted, and the efficiency and the quality of the three-dimensional modeling are favorably improved.
Example 3:
in one embodiment of the invention: the scanning of the wire harness assembly label in the video frame image obtains wire harness assembly information, and according to the wire harness assembly information, the package information in a pre-stored packing box is called, and the automatic matching of the target packing box information comprises the following steps:
determining whether a repeated video frame image is included in the video frame image based on the video frame image,
if yes, deleting the repeated video frame image, and generating a first video frame image database;
detecting whether the database contains the label information of the automobile wiring harness assembly or not based on the first video frame image database,
when the first video frame image database contains automobile wiring harness label information, scanning the label information to obtain basic data information of the automobile wiring harness assembly; wherein,
the basic data information includes: the method comprises the steps of obtaining color information of a wire harness assembly, type information of the wire harness assembly and positioning information of the wire harness assembly; wherein,
the wire harness assembly type information includes: the device comprises an instrument desk wire harness assembly, an engine compartment wire harness assembly and a chassis wire harness assembly;
detecting and analyzing basic data information of the automobile wire harness assembly, judging whether the automobile wire harness assembly meets the use standard or not, and determining a judgment result;
based on the judgment result, when the detection result is determined to meet the use standard, a pre-stored packing box database is called, and target packing box information is searched; wherein,
the target packing box information comprises: target packing box sequence information, target packing box position information and target packing box volume information.
The working principle of the technical scheme is as follows: the technical scheme of the invention comprises the steps of detecting the quality of the wire harness assembly, analyzing the acquired data through a detection and analysis module, automatically matching target packing box information, and mainly comprising the steps of information extraction, label identification, wire harness detection, target matching and the like in the detection and analysis process; in the label identification process, the method is mainly responsible for scanning a video frame containing a wire harness label in a video frame image, acquiring basic information of the wire harness, comparing the acquired basic information of the wire harness with actually detected wire harness information to acquire abnormal wire harness data, discarding the automobile wire harness with a fault, and finally automatically matching target packing box data according to effective wire harness data.
The beneficial effects of the above technical scheme are: according to the invention, the depth camera is adopted to directly scan the image containing the wire harness label in the video frame, no additional scanning equipment is needed, the label scanning efficiency is increased, the detection of the quality of the wire harness in the wire harness detection unit is beneficial to including invalid automobile wire harnesses after the boxing is finished, the failure probability of the whole automobile is improved, and finally, in the target matching unit, the target packaging box is automatically matched according to the basic information of the automobile wire harnesses, so that the error rate in the manual boxing process is favorably avoided, and the boxing efficiency and the accuracy are improved.
Example 4:
in one embodiment of the invention: the remote boxing based on the environment virtual scene and by combining the position information of the target packing box comprises the following steps:
automatically generating a conveying path set based on the target packing box position information and the assembly positioning information;
screening the conveying paths in the conveying path set according to the conveying path set to determine an optimal conveying path;
carrying out long-distance transportation processing on the automobile wire harness assembly according to the optimal transportation path;
the bin state information is tracked and recorded in real-time, wherein,
the state information includes: the wire harness information is subjected to boxing, the wire harness information to be subjected to boxing and the abnormal wire harness information;
monitoring state data in the wire harness assembly boxing process in real time, comparing the state data with a preset threshold value, judging whether abnormal data exist in the state data or not,
and when abnormal data exists in the state data, determining the abnormal data, dividing the alarm grade, and starting a corresponding alarm mode according to the alarm grade.
The working principle of the technical scheme is as follows: the technical scheme of the invention includes that when the automobile wire harness is packed, a remote transport path is automatically matched, alarm on abnormal data is met, and real-time recording of the data is carried out, in a path generation unit, according to the position information of the automobile wire harness, the position information of a target packing box which is automatically matched is combined, all packing paths are obtained, an optimal packing path is automatically matched according to a preset judgment standard, in the whole process, the data are recorded, stored and updated in real time, the data are compared with a preset threshold value to obtain abnormal data, analysis is carried out on the abnormal data, and an alarm mode is started;
the beneficial effects of the above technical scheme are: according to the invention, all path matching information is acquired in the path generating unit, the optimal boxing path is dynamically determined during path planning, the boxing time and speed are saved, the time waste is reduced, and when real-time data is recorded, abnormal data is possibly contained in the database, so that the possibility of misleading is possibly caused during data analysis.
Example 5:
in one embodiment of the invention: the preprocessing operation of the video frame images to obtain the enhanced image comprises:
according to the first video frame image database, carrying out gray level processing on the video frame images in the database to obtain a primary video frame image;
based on the primary video frame image, enhancing the primary video frame image to obtain a secondary video frame image;
detecting image noise of the secondary video frame image and classifying noise levels according to the image noise, wherein,
the noise levels include: first-level noise, second-level noise, third-level noise,
when the noise level is secondary noise or tertiary noise, denoising the secondary video frame image to obtain a tertiary video frame image;
and carrying out image segmentation on the three-level video frame image, determining image characteristics and obtaining a four-level video frame image.
The working principle of the technical scheme is as follows: in the technical scheme of the invention, a depth camera is adopted to collect image information and preprocess an image, wherein in an image gray level subunit, effective video frame images are subjected to gray level processing and enhancement processing, the enhanced images are subjected to filtering processing, and finally the obtained images are segmented to highlight effective parts;
the beneficial effects of the above technical scheme are: the method and the device have the advantages that the video frame images are preprocessed, so that the effective characteristics in the images can be highlighted, the real-scene modeling and reconstruction speed and efficiency can be realized according to the video frame images, the obtained environment scene is more authentic, and the execution efficiency of boxing can be increased.
The image enhancement process also comprises the following steps, and the following processes are mainly used for noise reduction:
the video frame images acquired by the depth camera are all color images, and the color information of the images is represented by components R, G, B respectively.
Firstly, the gray scale processing of the image is carried out through the three color components, and the gray scale value is determined: : subjecting the video frame images to a gray scale process, in one video frame image, assuming that (x, y) corresponds to pixel coordinates in the image, f (x, y) is expressed as a gray scale value corresponding to the video frame image,
f(x,y)＝αR(x,y)+βG(x,y)+γB(x,y)
in this embodiment, a weighted average method is adopted to calculate the gray level of the video frame image, where α, β, and γ respectively represent weighting coefficients; f (x, y) represents the gray scale value and (x, y) represents the pixel coordinates of the image.
Secondly, when reinforcing, because the vanning environment of car wiring harness assembly is generally indoor, mainly relies on light to throw light on, can lead to the image resolution ratio of gathering not high, consequently, need carry out enhancement processing to the image, outstanding image characteristic, image enhancement's computational formula as follows:
Out1(x,y)＝C·f(x,y)
wherein, delta1、δ2Respectively and dynamically adjusting the position and the shape in the video frame image for adjusting the coefficient, wherein Out (x, y) represents an output image obtained by converting a gray value image f (x, y) by a conversion function C; c represents a conversion function, in the process of image enhancement, the conversion function, namely an enhancement coefficient is determined, and the determined enhancement coefficient is determined, so that the correct gray value of the enhanced image can be calculated, the gray value of the enhanced image can be obtained, and the noise in the image can be clearer.
And step 3: for the situation that image noise may still exist in a video frame image subjected to image enhancement processing, image denoising processing needs to be performed on the image, and a calculation process corresponding to the image denoising processing is as follows:
wherein τ represents the mean square error of the gaussian function, and τ is generally 1 to 10, Out, in order to prevent excessive blurring of the image2(x, y) represents the output image, Out, that has undergone image denoising processing1(x, y) is the output image after image enhancement, in the above formula, the weighted average is performed on the pixel points in the video frame image after image enhancement, and the adjustment coefficient delta is used2Adjusting the shape of the image curve, and finally realizing the denoising processing of the video frame image;
the beneficial effects of the above technical scheme are: the invention changes the collected video frame image into the gray image only containing brightness information after gray conversion processing, obviously reduces the data volume, enhances and de-noizes the image, is beneficial to improving the image processing efficiency, enhances the image to increase the resolution, highlights the characteristic information and improves the authenticity and the effect of three-dimensional modeling.
Example 6:
in one embodiment of the invention: determining image parameters according to the enhanced image, and performing three-dimensional live-action modeling according to the image parameters to generate an environment virtual scene comprises:
determining environmental data information based on the four levels of video frame pictures, wherein,
the environment data information includes: illumination data information, voxel data information, direction data information, and coordinate data information;
comparing the environmental data information with a preset threshold value, judging whether the environmental data information contains abnormal data information,
when the environmental data information contains abnormal data information, discarding the abnormal data information to determine effective environmental data;
determining environmental characteristics according to the effective environmental data, analyzing the environmental characteristics and obtaining a characteristic analysis result;
and performing three-dimensional reconstruction on the environment based on the characteristic analysis result to obtain a virtual scene of the boxing environment.
The working principle of the technical scheme is as follows: in the prior art, only a scanner is used for acquiring label information of a wire harness assembly and a packaging box, and specific steps still need to be manually participated, in the technical scheme of the invention, a video frame image acquired by a depth camera is analyzed to acquire image parameters for three-dimensional modeling, and in the process of three-dimensional modeling of a packaging environment, the data acquisition is firstly used for analyzing the video frame image subjected to data preprocessing to acquire image parameter information, and the method comprises the following steps: in the data processing, processing and analyzing the obtained parameter information, comparing the parameter information with a preset basic threshold value to obtain abnormal data, determining effective environment data, then performing characteristic analysis on the effective environment data to obtain environment characteristics, and finally obtaining virtual scene information of the boxing environment through real-scene modeling according to the characteristic analysis result of the environment;
the beneficial effects of the above technical scheme are: according to the invention, the environmental data information is obtained according to the preprocessed image, the environmental data information is compared with the preset threshold value, and the abnormal data information is discarded, so that the adverse effect of the obtained abnormal data on the three-dimensional reconstruction is favorably reduced, the three-dimensional reconstruction is realized through the analysis result of the characteristic analysis, and the efficiency of the three-dimensional reconstruction of the packing environment and the authenticity of the virtual scene are favorably improved.
Example 7:
in one embodiment of the invention: the basic data information of the automobile wire harness assembly is detected and analyzed, whether the automobile wire harness assembly meets the use standard or not is judged, and a judgment result is determined; the method comprises the following steps:
detecting whether the color of a wire harness in the automobile wire harness assembly is consistent with the color of a hole site of a corresponding terminal, if so, setting a first detection result to be 1, and if not, setting the first detection result to be 0;
detecting whether the number of the wire harnesses in the automobile wire harness assembly is consistent with the preset number of the wire harnesses, if so, setting a second detection result to be 1, and if not, setting the second detection result to be 0;
detecting whether the wire harness in the automobile wire harness assembly has connectivity, if the electric wire has connectivity, setting a third detection result as 1, and if the electric wire does not have connectivity, setting the third detection result as 0;
judging whether the automobile wire harness assembly meets the use standard or not according to the first detection result, the second detection result and the third detection result,
and when the first detection result, the second detection result and the third detection result are all 1, judging that the wire harness assembly meets the use standard.
The working principle of the technical scheme is as follows: the technical scheme of the invention is that the wire harness detection is added in the boxing process, the wire harness is detected in different levels, whether the automobile wire harness meets the standard or not is judged respectively from the color composition, the quantity and the circuit connectivity of electric wires, when the color, the quantity and the circuit connectivity of the electric wires meet the requirements, the wire harness is judged to pass the detection, if one requirement does not meet the requirements, the boxing is suspended, and other wire harnesses are replaced;
the beneficial effects of the above technical scheme are: the wire harness detection is added in the boxing process, so that the number of effective wire harnesses in a final boxing result is increased, the factory return rate caused by the quality problem of the wire harnesses is reduced, and the effective boxing efficiency is increased finally.
In one embodiment, the color of the wiring harness in the wiring harness assembly is judged to be consistent with the color of the vacant position of the corresponding terminal by detecting the color composition of the automobile wiring harness assembly: the method specifically comprises the following steps:
step 1: firstly, representing the video frame image by using a two-dimensional matrix, wherein coordinates of a central point of the matrix are (a, b), corresponding pixel values are f (a, b), a pixel point set is represented by P, the number of pixels is m, and obtaining an output result by filtering and calculating the pixel values f (a, b) at (a, b):
wherein, (x, y) represents any coordinate value in the pixel set, i.e. (x, y) epsilon P,
for example, when the point set P is a set of 8 domain points, the result of the pixel value output at point (a, b) is:
step 2: outputting the pixel value of the video frame image and carrying out similarity detection on the pixel value of the template, wherein the corresponding calculation process is as follows:
in the above formula, (x, y) belongs to P, T (x, y) is the template pixel value,
when S (a, b) is 0, the pixel value output representing the video frame image is the same as the template pixel value, and when S (a, b) is not 0, the pixel value output representing the video frame image has an error with the template pixel value;
and step 3: judging whether the color error currently calculated affects the color matching according to the error value,
S(a,b)≤T
when the error value S (a, b) is smaller than the threshold value, the current first detection result value output of the wire harness assembly is judged to be 1;
the beneficial effects of the above technical scheme are: according to the invention, the color of the wire harness in the automobile wire harness assembly to be boxed is identified and detected, so that whether the color of the wire harness is consistent with the color of the hole site of the corresponding terminal is preliminarily judged, the problem of detecting the wire harness assembly in advance is facilitated, and the boxing effectiveness of the wire harness assembly is improved.
Example 8:
in one embodiment of the invention: the remote transportation processing of the automobile wire harness assembly according to the optimal transportation path comprises the following steps:
measuring the real-time distance between the automobile wire harness assembly and surrounding objects in real time by adopting a laser ranging method;
comparing the real-time distance with a preset threshold value, and judging as a dangerous distance if the distance is smaller than the preset threshold value;
and when the distance between the automobile wire harness and the surrounding objects is a dangerous distance, starting an emergency obstacle avoidance mode.
The working principle of the technical scheme is as follows: the technical scheme of the invention can realize remote delivery of the wire harness assembly by matching an optimal path, and firstly, the laser distance measuring device is mainly responsible for detecting the distance between the wire harness assembly and an object in the process of delivering the wire harness assembly by adopting a laser distance measuring function in a depth camera in the laser distance measuring process, when the distance is less than a safe distance, a safe alarm is started, and when the safe alarm function is activated, an emergency obstacle avoidance mode is started;
the beneficial effects of the above technical scheme are: the invention judges the safe distance by detecting the distance, is beneficial to judging whether an obstacle exists in the boxing process, and carries out emergency obstacle avoidance when the obstacle appears, thereby being beneficial to improving the safety in the boxing process and reducing the danger in the boxing process.
Example 9:
in one embodiment of the invention: the method comprises the following steps of detecting and analyzing basic data information of the automobile wire harness assembly, judging whether the automobile wire harness assembly meets the use standard or not, and determining a judgment result, and further comprises the following execution steps:
step 1: acquiring the category information of the wire harness assembly, classifying the wire harness assembly according to the category information, and determining a classification result;
step 2: according to the classification result of the wire harness assembly, performing association marking on the classification result and target packaging information;
and step 3: and searching the wire harness assemblies with the same classification results according to the association marking results, integrating the wire harness assemblies with the same classification results, and performing unified transportation on the integrated wire harness assemblies.
The working principle of the technical scheme is as follows: the technical scheme of the invention is that the method is also used for classifying the wire harness assemblies in the wire harness detection process, performing associated marking on the classification results and target package information, and integrating and unifying the assemblies wanted by the classification results to finish the transportation;
the beneficial effects of the above technical scheme are: according to the invention, the wire harness assemblies are classified, and then the classified wire harness assemblies are subjected to long-distance boxing treatment, so that the boxing time is saved, and the conveying efficiency and speed in the boxing process are improved.
Example 10:
an embodiment of the present invention provides a box loading system for an automotive wire harness assembly, as shown in fig. 2, including:
the information acquisition module: the system comprises a video acquisition module, a storage module, a display module and a display module, wherein the video acquisition module is used for acquiring boxing environment video stream data in real time, acquiring environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene;
a detection analysis module: the system comprises a video frame image, a wire harness assembly label, a packaging box and a display screen, wherein the video frame image is used for scanning the wire harness assembly label in the video frame image, acquiring wire harness assembly information, calling pre-stored packaging information in the packaging box according to the wire harness assembly information, and automatically matching target packaging box information;
a boxing execution module: the system is used for performing remote boxing based on the environment virtual scene by combining the position information of the target packing box;
it will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method of boxing an automotive wire harness assembly, comprising:
acquiring boxing environment video stream data in real time, acquiring environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene;
scanning a wire harness assembly label in the video frame image to obtain wire harness assembly information, calling pre-stored packaging information in a packaging box according to the wire harness assembly information, and automatically matching target packaging box information;
and performing remote boxing based on the environment virtual scene by combining the position information of the target packing box.
2. The method of claim 1, wherein the step of collecting real-time boxing environment video stream data, obtaining environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene comprises:
shooting a boxing environment by using a depth camera to obtain environment video stream data;
performing video segmentation processing on the environment video stream data to obtain a plurality of video frame images;
preprocessing the video frame images to obtain an enhanced image;
determining image parameters according to the enhanced image, and performing three-dimensional live-action modeling according to the image parameters to generate an environment virtual scene;
and receiving the data content of the depth camera in real time, judging whether the image parameters change, performing modeling processing again according to the environment parameters when the image parameters change, and updating the environment virtual scene.
3. The method of claim 1, wherein the scanning of the harness assembly label in the video frame image to obtain harness assembly information, and retrieving pre-stored packing information in a packing box according to the harness assembly information, and the automatically matching of the target packing box information comprises:
determining whether a repeated video frame image is included in the video frame image based on the video frame image,
if yes, deleting the repeated video frame image, and generating a first video frame image database;
detecting whether the database contains the label information of the automobile wiring harness assembly or not based on the first video frame image database,
when the first video frame image database contains automobile wiring harness label information, scanning the label information to obtain basic data information of the automobile wiring harness assembly; wherein,
the basic data information includes: the method comprises the steps of obtaining color information of a wire harness assembly, type information of the wire harness assembly and positioning information of the wire harness assembly; wherein,
the wire harness assembly type information includes: the device comprises an instrument desk wire harness assembly, an engine compartment wire harness assembly and a chassis wire harness assembly;
detecting and analyzing basic data information of the automobile wire harness assembly, judging whether the automobile wire harness assembly meets the use standard or not, and determining a judgment result;
based on the judgment result, when the detection result is determined to meet the use standard, a pre-stored packing box database is called, and target packing box information is searched; wherein,
the target packing box information comprises: target packing box sequence information, target packing box position information and target packing box volume information.
4. The method of claim 3, wherein the remote boxing based on the environment virtual scene and combined with the target boxing position information comprises:
automatically generating a conveying path set based on the target packing box position information and the assembly positioning information;
screening the conveying paths in the conveying path set according to the conveying path set to determine an optimal conveying path;
carrying out long-distance transportation processing on the automobile wire harness assembly according to the optimal transportation path;
the bin state information is tracked and recorded in real-time, wherein,
the state information includes: the wire harness information is subjected to boxing, the wire harness information to be subjected to boxing and the abnormal wire harness information;
monitoring state data in the wire harness assembly boxing process in real time, comparing the state data with a preset threshold value, judging whether abnormal data exist in the state data or not,
and when abnormal data exists in the state data, determining the abnormal data, dividing the alarm grade, and starting a corresponding alarm mode according to the alarm grade.
5. The method of claim 2, wherein the preprocessing the plurality of video frame images to obtain the enhanced image comprises:
according to the first video frame image database, carrying out gray level processing on the video frame images in the database to obtain a primary video frame image;
based on the primary video frame image, enhancing the primary video frame image to obtain a secondary video frame image;
detecting image noise of the secondary video frame image and classifying noise levels according to the image noise, wherein,
the noise levels include: first-level noise, second-level noise, third-level noise,
when the noise level is secondary noise or tertiary noise, denoising the secondary video frame image to obtain a tertiary video frame image;
and carrying out image segmentation on the three-level video frame image, determining image characteristics and obtaining a four-level video frame image.
6. The method of claim 5, wherein the determining image parameters from the enhanced image and the three-dimensional live-action modeling from the image parameters to generate the virtual environment scene comprises:
determining environmental data information based on the four levels of video frame pictures, wherein,
the environment data information includes: illumination data information, voxel data information, direction data information, and coordinate data information;
comparing the environmental data information with a preset threshold value, judging whether the environmental data information contains abnormal data information,
when the environmental data information contains abnormal data information, discarding the abnormal data information to determine effective environmental data;
determining environmental characteristics according to the effective environmental data, analyzing the environmental characteristics and obtaining a characteristic analysis result;
and performing three-dimensional reconstruction on the environment based on the characteristic analysis result to obtain a virtual scene of the boxing environment.
7. The method according to claim 3, wherein the basic data of the automotive harness assembly is detected and analyzed, whether the automotive harness assembly meets the use standard is judged, and the judgment result is determined; the method comprises the following steps:
detecting whether the color of a wire harness in the automobile wire harness assembly is consistent with the color of a hole site of a corresponding terminal, if so, setting a first detection result to be 1, and if not, setting the first detection result to be 0;
detecting whether the number of the wire harnesses in the automobile wire harness assembly is consistent with the preset number of the wire harnesses, if so, setting a second detection result to be 1, and if not, setting the second detection result to be 0;
detecting whether the wire harness in the automobile wire harness assembly has connectivity, if the electric wire has connectivity, setting a third detection result as 1, and if the electric wire does not have connectivity, setting the third detection result as 0;
judging whether the automobile wire harness assembly meets the use standard or not according to the first detection result, the second detection result and the third detection result,
and when the first detection result, the second detection result and the third detection result are all 1, judging that the wire harness assembly meets the use standard.
8. The method of claim 4, wherein said remotely transporting the vehicle harness assembly according to the optimal transport path comprises:
measuring the real-time distance between the automobile wire harness assembly and surrounding objects in real time by adopting a laser ranging method;
comparing the real-time distance with a preset threshold value, and judging as a dangerous distance if the distance is smaller than the preset threshold value;
and when the distance between the automobile wire harness and the surrounding objects is a dangerous distance, starting an emergency obstacle avoidance mode.
9. The method according to claim 7, wherein the detecting and analyzing of the basic data information of the automotive harness assembly, determining whether the automotive harness assembly meets the usage standard, and determining the determination result further comprises the following steps:
step 1: acquiring the category information of the wire harness assembly, classifying the wire harness assembly according to the category information, and determining a classification result;
step 2: according to the classification result of the wire harness assembly, performing association marking on the classification result and target packaging information;
and step 3: and searching the wire harness assemblies with the same classification results according to the association marking results, integrating the wire harness assemblies with the same classification results, and performing unified transportation on the integrated wire harness assemblies.
10. A encasement system for an automotive wire harness assembly, comprising:
the information acquisition module: the system comprises a video acquisition module, a storage module, a display module and a display module, wherein the video acquisition module is used for acquiring boxing environment video stream data in real time, acquiring environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene;
a detection analysis module: the system comprises a video frame image, a wire harness assembly label, a packaging box and a display screen, wherein the video frame image is used for scanning the wire harness assembly label in the video frame image, acquiring wire harness assembly information, calling pre-stored packaging information in the packaging box according to the wire harness assembly information, and automatically matching target packaging box information;
a boxing execution module: and the system is used for performing remote boxing based on the environment virtual scene by combining the position information of the target packing box.
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| CN202111330519.2A CN114170141A (en) | 2021-11-11 | 2021-11-11 | Boxing method and system for automobile wire harness assembly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111330519.2A CN114170141A (en) | 2021-11-11 | 2021-11-11 | Boxing method and system for automobile wire harness assembly |
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